UniformGaussNewtonModel.jacobian#

t3toolbox.fitting.UniformGaussNewtonModel.jacobian(p)#

def jacobian(self, p: ut3m.UT3Tangent) -> NDArray:  # J p = 𝒥(Π p)

The linearized forward J p = 𝒥(Π p) – ONE forward sweep (the predicted residual r + J p).